df71467eed
rollout use size_t for array size check and pointer arithmetic
2025-02-19 22:46:12 -05:00
19624aef9d
Add an example of a textured height field to mjSpec notebook.
...
https://youtu.be/i6eXrzJNKeY
PiperOrigin-RevId: 728841769
Change-Id: I1aca838af69d8474aab13b06d8c1e5cf87fc6440
2025-02-19 15:34:21 -08:00
7a2ad8fd97
Merge pull request #2436 from aftersomemath:rollout-notebook-pr
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PiperOrigin-RevId: 728706864
Change-Id: I8f3a507234c4265564a4fee9df0ab8111ff7dd85
2025-02-19 09:42:08 -08:00
b0e9d08673
Move introspect to python/introspect
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PiperOrigin-RevId: 728695024
Change-Id: I96433e1e9ee509704d66bd4c1be1906732e4cc55
2025-02-19 09:01:21 -08:00
41a873b016
Notebook showcasing the Python rollout module
2025-02-18 10:57:03 -05:00
7f11a0df12
Add check for height fields size during compilation.
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Fixes #2427 .
PiperOrigin-RevId: 727805729
Change-Id: Idf3192e5fb238249faaeae6b4fb9de4c55755d96
2025-02-17 04:01:27 -08:00
37d7591ce0
Add support for user-defined figures in the MuJoCo viewer.
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PiperOrigin-RevId: 726983516
Change-Id: Ifb821f3cafb163d4f3077d76b0668037b4bc5a9c
2025-02-14 10:45:47 -08:00
5b924fec98
Add support for binding to arrays of mjs element.
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Fixes #2402 .
PiperOrigin-RevId: 726449592
Change-Id: I0cde44889837a71a222b20cf91fa56568b4af689
2025-02-13 06:01:30 -08:00
1b4258d274
Change set_default and default to classname in the bindings.
...
Having defaults in the names of the attribute or function names is confusing for the users since the defaults are not re-applied but are only used for writing to XML. The alternative would be to change mjs_setDefault to re-apply them, but this would overwrite any other attribute set by the user so far.
PiperOrigin-RevId: 726431090
Change-Id: I41f4a23e1722e278b0ecc0a00b07db9b384fe994
2025-02-13 04:52:02 -08:00
7af9bcbf00
mjSpec tutorial: Move humanoid and Menagerie imports to the cells that require them.
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PiperOrigin-RevId: 725945693
Change-Id: I3f0d4c867626ef61605815bb708a55c8e29d79e2
2025-02-12 01:02:17 -08:00
d830691f53
Merge pull request #2291 from AaronYoung5:main
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PiperOrigin-RevId: 725933976
Change-Id: I207cf272d30e28f00fb4d07bd237385ad4c26a84
2025-02-12 00:16:10 -08:00
cef5b31a3f
Drop find_ prefix in Python MjSpec methods accessing elements by name.
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PiperOrigin-RevId: 725594833
Change-Id: Ibf8a9918e98b298751d0ef2e657714e28e5fa460
2025-02-11 05:50:49 -08:00
e54f3c222d
Autogenerate mjSpec find_* methods.
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PiperOrigin-RevId: 725255440
Change-Id: Ia9112f6c582ea9bb0af38aa97a917e72a98a84f5
2025-02-10 10:03:44 -08:00
4156350708
Add to_file function to save the Spec to a file.
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Fixes #2415 .
PiperOrigin-RevId: 725161617
Change-Id: I6c374cc7f7cb3f1da1cc0da531dd7e5be5d62b6a
2025-02-10 04:33:14 -08:00
73aba91297
Add simple procedural tree example to model editing tutorial.
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https://youtu.be/7VJG61AapEc
PiperOrigin-RevId: 724729966
Change-Id: I48c288de8e01baa3cd8f40700bc7137744de37a0
2025-02-08 13:02:11 -08:00
06758e35ab
Fix mjSpec colab after changing the default behavior of attach to be a shallow copy.
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PiperOrigin-RevId: 724375710
Change-Id: I5fac7d24c1d0b1ad4d427c021022c47620accf53
2025-02-07 09:41:03 -08:00
dec7b661c1
Add mujoco.MjSpec.MjStruct type.
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PiperOrigin-RevId: 723552214
Change-Id: I8ecb43b4025b532ba8b48e15c9c6a2b350293d20
2025-02-05 10:01:35 -08:00
6bd88711a8
Add parent to MjSpec wrapper in Python bindings.
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This keeps track of specs attached with the full attach function `attach`. It does not track fine-grained attach via `attach_body` and `attach_frame`.
PiperOrigin-RevId: 722597081
Change-Id: I56188f1718592128b7033538acc9a40553cbbed2
2025-02-03 04:04:11 -08:00
86ace5e562
Remove body.spec() function from the Python API
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We can only use the MjSpec wrapper, not the raw::MjSpec struct in the API.
PiperOrigin-RevId: 722589064
Change-Id: I007150f92738487f27211d7435e328cab86214f7
2025-02-03 03:31:35 -08:00
767be23207
Fix pretty printing in mjspec notebook.
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PiperOrigin-RevId: 721367994
Change-Id: Ia1c4ee5b64540ff2f9c08a1953295ff366e0c72b
2025-01-30 06:32:35 -08:00
904b49848f
Add worldbody assertions in attach tests.
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This clarifies the difference between attaching a full spec, which converts the worldbody to a frame, and attaching a specific body (or frame).
PiperOrigin-RevId: 721297010
Change-Id: Iff87fe99b81746e6ab3a189a3057b274d3c9a939
2025-01-30 01:35:55 -08:00
0643017346
Add asset argument to MjSpec constructors.
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PiperOrigin-RevId: 720628689
Change-Id: I189aa34973e58b9fb87951e34cb923d94e081a55
2025-01-28 10:39:27 -08:00
5b330ca19c
Change keyword argument asset to include in spec.from_file and spec.from_string.
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PiperOrigin-RevId: 720611881
Change-Id: I92f5e72cece8d3223bc552ea4f2ef742c47cb8c9
2025-01-28 09:55:48 -08:00
2546fcefa0
Add mujoco.MjSpec.to_zip()
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PiperOrigin-RevId: 719003836
Change-Id: I310ac96b0080b3313c325cee76d3bf7f81fa9df0
2025-01-23 14:01:06 -08:00
f9fd2e4ba4
Add a test showing how to implement scipy's 'soft_l1' loss in minimize.least_squares
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PiperOrigin-RevId: 718649580
Change-Id: I5cec0e2850c805301407c9eb543ab3ba69d42e79
2025-01-22 18:25:44 -08:00
0090e1e908
Rename rollout variable nroll to nbatch.
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PiperOrigin-RevId: 718196100
Change-Id: Ic36b1a96ea1af2de351539115d4eee051d195aaf
2025-01-21 21:04:15 -08:00
ac76540eb8
Merge pull request #2377 from aftersomemath:rollout-fix-ndata-check
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PiperOrigin-RevId: 718181763
Change-Id: Ie88bf1d26c77478ce3a5ca8fdf29ae90e54b5834
2025-01-21 20:11:33 -08:00
6a7a7a5f80
Add the override_assets attribute to MjSpec.
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When specified, child asset with repeated names will override parent's, rather than throw an error. Default behavior is to override.
PiperOrigin-RevId: 717979621
Change-Id: I18022dc266619b4ba1a8636d1c60f85b0eb5f862
2025-01-21 10:39:02 -08:00
1412a29dac
Merge child asset dictionary into parent spec during attach().
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PiperOrigin-RevId: 717939728
Change-Id: I54f8ac87062cf19f55a16af37b777701545ed865
2025-01-21 08:57:09 -08:00
4bb6aeb19f
Change site and frame attach API.
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Old API:
```
site.attach(child_spec)
frame.attach(child_spec)
```
New API:
```
parent_spec.attach(child_spec, frame=frame_name_or_object)
parent_spec.attach(site_spec, site=site_name_or_object)
```
This enables accessing the parent object during attach, which will be used in a follow-up CL to automatically append the child assets to the parent.
PiperOrigin-RevId: 717908589
Change-Id: I0fb27e99694c954cb8ba8a8c98484ffd53a4d6db
2025-01-21 07:29:27 -08:00
cee122116e
rollout: fix bugs in checking list lengths, add tests
2025-01-21 00:36:52 -05:00
baf1c43b3c
Fix more misleading line for creating list of models in rollout_test.py
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PiperOrigin-RevId: 717628943
Change-Id: I83a314565ce4ec683afeea18c8c8ce9e23d5452e
2025-01-20 14:27:31 -08:00
ff4783482c
Fix misleading line for creating list of models in rollout_test.py
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PiperOrigin-RevId: 717582208
Change-Id: I1b4e40fc5ccbfe68fb7dc240715c704f1f68d9fe
2025-01-20 11:13:21 -08:00
699a6765e3
Add find functions for joints, lights, and cameras to mjSpec bindings.
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PiperOrigin-RevId: 717578768
Change-Id: I2087ccbb9cf8b3b8ec03e9eb2edb0707d4a4cac1
2025-01-20 11:02:34 -08:00
4903d5321c
add find_geom property to mjSpec
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PiperOrigin-RevId: 716225290
Change-Id: Ie6e229b0e802e7df06148f994d598334592e8ad1
2025-01-16 07:20:19 -08:00
c2138c3fb0
Do not copy the spec during attach.
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Use a reference count for managing the memory.
PiperOrigin-RevId: 716169486
Change-Id: Id270c4858c17b9250115e9544d5ea143584e2d5f
2025-01-16 03:53:17 -08:00
6436055c6c
Update the version number to 3.2.8 following the 3.2.7 release.
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PiperOrigin-RevId: 715870970
Change-Id: I9fc9a09d959043f3029faa7296a717ea56f75c89
2025-01-15 11:13:27 -08:00
05d4c3d670
Add mjs_getParent to retrieve the parent body of an object.
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PiperOrigin-RevId: 715794859
Change-Id: Ib9792787cdb966f579938dde3f94ebabca8ef1fc
2025-01-15 07:42:43 -08:00
10c7207cea
Process asset path before adding VFS buffer.
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Also, handle VFS errors.
PiperOrigin-RevId: 715755127
Change-Id: Iaf455d448f16e37ab89ceaa5797319135acd73c9
2025-01-15 05:10:00 -08:00
61973a33c9
Update eigen3 and the changelog ahead of the 3.2.7 release.
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PiperOrigin-RevId: 715467319
Change-Id: I4a6a168bc981c976890c46b784e94805afc86323
2025-01-14 11:51:12 -08:00
ba183adb67
Add assets to MjSpec wrapper.
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This enables associating assets with a spec object.
Also, remove `spec.compile(assets)` and replace it with the `spec.assets` attribute, which must be be set before compile if assets are present.
PiperOrigin-RevId: 714981385
Change-Id: Ic3a33c3b75d3a7e14868622aadb57b2a8461a649
2025-01-13 08:41:51 -08:00
1c32b5d2dd
Fix attach logic.
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Replace .attach() with .attach_body() where a body is passed as a first argument instead of a spec that is expected by .attach().
+Fix typo.
PiperOrigin-RevId: 714933134
Change-Id: Idb242fbef0fe164075826c01d4e1995c7d4ae565
2025-01-13 05:41:49 -08:00
2409a6e537
Add mjData.nA the number of non-zeros in the constraint inverse inertia matrix.
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PiperOrigin-RevId: 714076988
Change-Id: I4c323a6e81dfb23f7972b662719bbcb688bacf4a
2025-01-10 09:23:55 -08:00
90049343b9
Fix texture indexing bug in bindings.
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Fixes #2341 .
PiperOrigin-RevId: 713667648
Change-Id: I7fa5da1506306c5374febf762ce54aff9146079b
2025-01-09 07:38:22 -08:00
419da17395
Fix plot label.
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PiperOrigin-RevId: 713635908
Change-Id: Icbeef26053b10747024ea65b23ca86816f4fdb2e
2025-01-09 05:23:32 -08:00
40ef08c8ed
Don't pollute the global namespace when using mjpython.
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Fixes #2265
PiperOrigin-RevId: 713442833
Change-Id: If155d9f57d4deef8b848478ebd8077a00417d5c5
2025-01-08 15:48:20 -08:00
69c9ac074a
Remove mjData.qLDiagSqrtInv, add corresponding argument to mj_solveM2.
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- `qLDiagSqrtInv` is only required for the dual solvers. It is now computed as-needed rather than unconditionally.
- `mj_solveM2` now requires a new input array `sqrtInvD` which contains the square root of the inverse diagonal D (formerly saved in `qLDiagSqrtInv`).
PiperOrigin-RevId: 710805133
Change-Id: I0622d6a8da3882916824e9c10bad9223c122c321
2024-12-30 15:24:36 -08:00
3ef5ebcf01
removed trailing spaces
2024-12-17 12:57:48 -05:00
287256e63f
added struct function for spec bindings
2024-12-16 14:22:59 -05:00
0cf5500b6a
Fixed MjSpec introspection with visual.rgba and visual.headlight. Added access to MjSpec.visual.global_.
2024-12-16 14:20:18 -05:00
Levi Burner